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Earthworm‐Inspired Soft Skin Crawling Robot
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Journal Article
Earthworm‐Inspired Soft Skin Crawling Robot
2024
Overview
Earthworms are fascinating animals capable of crawling and burrowing through various terrains using peristaltic motion and the directional friction response of their epidermis. Anisotropic anchoring governed by tiny appendages on their skin called setae is known to enhance the earthworm's locomotion. A multi‐material fabrication technique is employed to produce soft skins with bristles inspired by the earthworm epidermis and their setae. The effect of bristles arranged in triangular and square grids at two spatial densities on the locomotion capability of a simple soft crawling robot comprised of an extending soft actuator covered by the soft skin is investigated experimentally. The results suggest that the presence of bristles results in a rostral to caudal friction ratio of µR/µC > 1 with some variations across bristle arrangements and applied elongations. Doubling the number of bristles increases the robot's speed by a factor of 1.78 for the triangular grid while it is less pronounced for the rectangular grid with a small factor of 1.06. Additionally, it is observed that increasing the actuation stroke for the skin with the high‐density triangular grid, from 15% to 30%, elevates the speed from 0.5 to 0.9 mm s−1, but further increases in stroke to 45% may compromise the durability of the actuators with less gains in speed (1 mm s−1). Finally, it is demonstrated that a crawling robot equipped with soft skin can traverse both a linear and a curved channel. Earthworm‐inspired modular artificial skins are integrated into a soft linear actuator to investigate the effect of friction anisotropy on limbless locomotion. The skins feature stiff bristles in different arrangements on a soft shell fabricated using multi‐material silicone casting. Comprehensive experiments reveal the role of bristle arrangements and density, stroke, and actuator geometry on the robot's locomotion speed.
Publisher
John Wiley & Sons, Inc,John Wiley and Sons Inc,Wiley
